Move code to cpp

source/ArmarXSimulation/components/IMUSimulation/IMUSimulation.cpp

@@ -28,6 +28,16 @@
 using namespace armarx;
 
 
+
+IMUSimulationPropertyDefinitions::IMUSimulationPropertyDefinitions(std::string prefix):
+    InertialMeasurementUnitPropertyDefinitions(prefix)
+{
+    defineOptionalProperty<std::string>("nodeName", "HeadIMU", "");
+    defineOptionalProperty<std::string>("SimulatorName", "Simulator", "Name of the simulator component that should be used");
+    defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the robot state component that should be used");
+}
+
+
 void IMUSimulation::onInitIMU()
 {
     usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
@@ -39,6 +49,7 @@ void IMUSimulation::onInitIMU()
     usingProxy(getProperty<std::string>("SimulatorName").getValue());
 }
 
+
 void IMUSimulation::onStartIMU()
 {
     robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
@@ -50,16 +61,12 @@ void IMUSimulation::onStartIMU()
     sensorTask->start();
 }
 
+
 void IMUSimulation::onExitIMU()
 {
     sensorTask->stop();
 }
 
-armarx::PropertyDefinitionsPtr IMUSimulation::createPropertyDefinitions()
-{
-    return armarx::PropertyDefinitionsPtr(new IMUSimulationPropertyDefinitions(
-            getConfigIdentifier()));
-}
 
 void IMUSimulation::frameAcquisitionTaskLoop()
 {
@@ -87,7 +94,6 @@ void IMUSimulation::frameAcquisitionTaskLoop()
 
     if (timestamp)
     {
-
         Eigen::Vector3f acceleration = (currentLinearVelocity - linearVelocity) / deltaTime;
 
         IMUData data;
@@ -110,7 +116,6 @@ void IMUSimulation::frameAcquisitionTaskLoop()
         data.orientationQuaternion.push_back(currentOrientation.z());
 
         IMUTopicPrx->reportSensorValues(getName(), "name", data, now);
-
     }
 
     orientation = currentOrientation;
@@ -119,3 +124,15 @@ void IMUSimulation::frameAcquisitionTaskLoop()
     linearVelocity = currentLinearVelocity;
 }
 
+
+std::string IMUSimulation::getDefaultName() const
+{
+    return "IMUSimulation";
+}
+
+
+armarx::PropertyDefinitionsPtr IMUSimulation::createPropertyDefinitions()
+{
+    return armarx::PropertyDefinitionsPtr(new IMUSimulationPropertyDefinitions(getConfigIdentifier()));
+}
+

source/ArmarXSimulation/components/IMUSimulation/IMUSimulation.h

@@ -50,15 +50,10 @@ namespace armarx
         public InertialMeasurementUnitPropertyDefinitions
     {
     public:
-        IMUSimulationPropertyDefinitions(std::string prefix):
-            InertialMeasurementUnitPropertyDefinitions(prefix)
-        {
-            defineOptionalProperty<std::string>("nodeName", "HeadIMU", "");
-            defineOptionalProperty<std::string>("SimulatorName", "Simulator", "Name of the simulator component that should be used");
-            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the robot state component that should be used");
-        }
+        IMUSimulationPropertyDefinitions(std::string prefix);
     };
 
+
     /**
      * @defgroup Component-IMUSimulation IMUSimulation
      * @ingroup ArmarXSimulation-Components
@@ -74,37 +69,35 @@ namespace armarx
         virtual public InertialMeasurementUnit
     {
     public:
-        /**
-         * @see armarx::ManagedIceObject::getDefaultName()
-         */
-        std::string getDefaultName() const override
-        {
-            return "IMUSimulation";
-        }
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
 
     protected:
 
+        /// @see PropertyUser::createPropertyDefinitions()
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
         void onInitIMU() override;
 
         void onStartIMU() override;
 
         void onExitIMU() override;
 
-        /**
-         * @see PropertyUser::createPropertyDefinitions()
-         */
-        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
     private:
 
 
         void frameAcquisitionTaskLoop();
 
-        Eigen::Quaternionf orientation;
+
+    private:
 
         PeriodicTask<IMUSimulation>::pointer_type sensorTask;
 
         Eigen::Vector3f position;
+        Eigen::Quaternionf orientation;
+
 
         std::string nodeName;
         double timestamp;
@@ -113,7 +106,6 @@ namespace armarx
 
         SimulatorInterfacePrx simulator;
         RobotStateComponentInterfacePrx robotStateComponent;
-        DebugDrawerInterfacePrx debugDrawerTopic;
     };
 }